TW202232877A - Direct drive brushless motor pipeline inspection camera system - Google Patents

Abstract

The present invention provides a direct-drive brushless motor pipeline detection camera system. The system includes: a power supply module provides working power for the direct drive brushless motor pipeline detection camera system; a lens module includes a camera for capturing images, and a protective cover protects the Camera; steering module, the steering module drives the lens module to rotate 360 degrees; control module, the control module controls the steering and positioning of the steering module; storage module, storing the camera of the lens module The transmitted image signal; the transmission module can output the data stored in the storage module or send it to the server.

Description

Direct drive brushless motor pipeline inspection camera system

The invention provides a pipeline inspection camera system which uses a brushless motor in combination with a camera for pipeline inspection, and has a 360-degree viewing angle to achieve silent performance and precise positioning.

The non-sensing driving technologies currently used in the commutation circuit of the brushless motor include the back-EMF zero-crossing estimation method and the terminal voltage comparison estimation method. Among them, the back-EMF zero-crossing point estimation method is to obtain the zero-crossing point of the back-EMF by measuring the terminal voltage of the phase coil of the non-conducting phase and comparing it with the virtual neutral voltage, and predicting the correct commutation point is related to the motor characteristics. Therefore, When driving motors with different parameters, it is not easy to control and is missing.

In addition, the terminal voltage comparison estimation method obtains the commutation signal of the three-phase coil by measuring the terminal voltage of the three-phase coil and comparing the change of the back electromotive force. The drive technology using the terminal voltage comparison estimation method does not need the relevant characteristic parameters of the motor, so it can be widely used in various types of motors with different driving parameters. However, the commutation point back EMF of the aforementioned terminal voltage comparison estimation method mostly needs to be filtered. , and it is easy to cause the commutation time delay (lag), resulting in inrush current, which in turn affects electromagnetic compatibility (EMC) and motor output efficiency. Therefore, how to improve the phase lag problem generated when the motor control technology using the terminal voltage comparison estimation method is applied is one of the directions of research and development.

The disadvantage of the prior art is that there is currently no low-speed miniature brushless motor on the market, and the rotation principle of the brushless motor does not support low-speed rotation. If the brushless motor is used in the low-speed range, it needs to be customized. Moreover, when the brushless motor works in the low speed range, it is easy to overheat the motor and cause the system to fail.

In view of this, the present invention provides a direct-drive brushless motor pipeline inspection camera system, the system includes: a power module provides the direct-drive brushless motor pipeline inspection camera system with working power; the lens module includes a camera for capturing images, The protective cover protects the camera; the steering module, which drives the lens module to rotate 360 degrees; the control module, which controls the steering and positioning of the steering module; the storage module, which stores the lens module The image signal transmitted by the camera in the group; the transmission module, which can output or transmit the data stored in the storage module to the server.

Preferably, the steering module drives the lens module to rotate 360 degrees, which includes a base, which is connected to the rotating part of the brushless motor, and the motor fixing part of the brushless motor is connected to the bottom edge of an L-shaped bracket. , the side of the L-shaped bracket is connected to the rotating part of another brushless motor, and the fixed part of the motor is connected to the lens module.

Preferably, the present invention achieves the cooperation of the brushless motor for controlling horizontal rotation and the brushless motor for controlling vertical rotation, so that the viewing angle of the lens group can reach 360 degrees, and the control circuit further enables the motor to be positioned accurately.

Preferably, the speed of the hollow shaft fast brushless motor of the present invention is reduced to less than 30 RPM.

Preferably, the hollow shaft of the present invention enables the motor to continuously roll 360 degrees.

Preferably, the present invention further uses a direct drive frameless motor to achieve a gearless and beltless design.

Preferably, the present invention further uses a motor Hall sensor to achieve precise positioning performance.

100: Direct drive brushless motor pipeline inspection camera system

10: Power Module

20: Lens module

21: Camera

22: Protective cover

30: Steering Module

311: First Pedestal

312: Second Pedestal

313: Third Pedestal

32: The first brushless motor

321: The first motor fixing part

322: The first motor rotating part

33: L-bracket

331: L-shaped bottom edge

332: L-shaped side

34: Second brushless motor

341: Second motor fixing part

342: Second motor rotating part

40: Control Module

50: Wireless Module

333: First Piercing

334: Second Piercing

[Fig. 1] is a schematic diagram of the direct drive brushless motor pipeline inspection camera system of the present invention;

[Fig. 2] is a schematic structural diagram of the steering module of the present invention;

[Fig. 3] is an embodiment of the steering module of the present invention;

[FIG. 4] is the control circuit diagram of the low-speed brushless motor of the present invention.

The following examples illustrate the purpose, content and advantages of the present invention. The following examples further describe the specific implementations of the present invention in detail. The following examples are only used to more clearly illustrate the technical solutions of the present invention, and cannot be used to limit the protection scope of the present invention.

The present invention provides a direct drive brushless motor pipeline inspection camera system 100, as shown in [FIG. 1] and [FIG. 2], the system includes:

A power module 10, the power module 10 includes a power storage function to provide the direct drive brushless motor tube

Line detection camera system 100 working power supply;

A lens module 20, the lens module 20 includes a camera 21 for capturing images, a protection The cover 22 protects the camera 21, a storage module, which stores the image signal transmitted by the camera 21 of the lens module 20, and a transmission module, which can store the storage module by the first transmission module data is exported or transmitted to a server;

A steering module 30 , the steering module 30 drives the lens module 20 to rotate 360 degrees, and includes a first base 311 connected to a first motor rotating part 322 of a first brushless motor 32 , In addition, a first motor fixing portion 321 of the first brushless motor 32 is connected to a second base 312, and the second base 312 is connected to an L-shaped bottom edge 331 of an L-shaped bracket 33. The L-shaped bracket An L-shaped side 332 of 33 is connected to a third base 313 , and a second motor fixing portion 341 of a second brushless motor 34 is connected by the third base 313 . A second motor rotating part 342 is connected to the lens module 20;

A control module 40, the control module 40 controls the steering and positioning of the steering module 30, which includes a steering control circuit, which controls the brushless motor speed to be reduced to a low speed operation below 30RPM; a positioning control circuit, using the Hall The sensor achieves the effect of precise positioning;

a wireless module 50, connected to the control module 40, allowing a user to transmit control signals to the control module 40 wirelessly; and

It is worth noting that the control wire of the second brushless motor 34 is connected to the control module 40 through a hollow shaft of the second brushless motor 34 and through a first through hole 333 on the L-shaped bracket 33 . So that the lens module 20 continuously rotates at a slow speed of 360 degrees in the vertical direction.

An embodiment of the present invention is shown in FIG. 3 , in the direct-drive brushless motor pipeline detection camera system, the steering module 30 drives the lens module 20 to rotate at a slow speed of 360 degrees in the horizontal direction, including the rotation of the first motor. The first motor fixing portion 321 is connected to the L-shaped side edge 332 of the L-shaped bracket 33 , and the L-shaped bottom edge 331 of the L-shaped bracket 33 is connected to the lens module 20 . The second motor fixing portion 341 of the second brushless motor 34 and the second motor rotating portion 342 are connected to the first base 311 .

In an embodiment of the present invention, the L-shaped bracket 33 , the lens module 20 , the first motor fixing part 321 , the first motor rotating part 322 , the second motor fixing part 341 and the second motor rotating part can be changed Different combinations of 342 achieve different forms of continuous 360-degree slow-speed rotation, allowing the lens group to achieve a full viewing angle.

In an embodiment of the present invention, as shown in FIG. 2 , the first brushless motor 32 and the second brushless motor 34 adopt a hollow design with a hollow shaft Hallow Shift (or Bore) without a rotating shaft, so as to connect the first brushless motor 32 and the second brushless motor 34 . The control wires of the motor fixing part 321 and the second motor fixing part 341 can be connected to the control module 40 through the hollow shaft space, so that the motor rotating part can continue to roll continuously 360 degrees without interference, and achieve No gear and belt design.

In an embodiment of the present invention, as shown in FIG. 2 , the control wire of the first brushless motor 32 passes through the hollow shaft of the first brushless motor 32 and passes through a third one on the L-shaped bottom edge 331 The through hole and the second through hole 334 on the L-shaped side 332 are connected to the control module 40 .

In one embodiment of the present invention, the control wire of the first brushless motor 32 is connected to the control module 40 through the hollow shaft of the first brushless motor 32 and through the through hole on the first base 311 .

According to an embodiment of the present invention, as shown in FIG. 2 , by means of the second brushless motor 34 , the viewing angle of the lens group 20 can reach a vertical 360° continuous rotation, and by means of the first brushless motor 32 , the lens group The viewing angle of 20 can reach 360 degrees horizontally; further, the positioning control circuit of the control module 40 achieves the effect of precise positioning.

In an embodiment of the present invention, the transmission module of the lens module 20 may further be an infinite transmission device, which transmits the real-time image signal of the lens module 20 .

In an embodiment of the present invention, as shown in FIG. 4 , the steering control circuit of the control module 40 controls the rotation speed of the brushless motor to operate at a low rotation speed below 30 RPM; the SPWM method is used to control the three-phase U, V, and W phases. The current of the coil relies on the synchronous change of the three-phase phase to achieve the purpose of slow movement of the motor; further find the appropriate voltage value, obtain sufficient torque and control the heating degree of the motor. The needs of the motor are different when the motor is stationary and rotating. When rotating, a large enough torque is required, and the control module 40 adopts different PWM frequencies to correspond to the two conditions, so as to obtain the best control effect.

In an embodiment of the present invention, as shown in FIG. 3 , the positioning control circuit of the control module 40 uses a Hall sensor to achieve the effect of precise positioning.

In an embodiment of the present invention, the direct-drive brushless motor pipeline inspection camera system 100 adopts a brushless motor and solves the problem of overheating of the brushless motor at low rotation speed, so it can achieve a miniature size.

Preferably, the direct-drive brushless motor pipeline inspection camera system 100 adopts a brushless motor and solves the problem of overheating of the brushless motor at low revolutions. The length, width and diameter of the camera plus the direct-drive brushless motor can reach 30-50 mm.

To sum up, the brushless motor of the present invention is used in pipeline inspection in combination with a camera, and has a pipeline inspection camera system with a 360-degree viewing angle that achieves silent performance and accurate positioning. Hollow Shift (or Bore) The hollow design without rotating shaft allows the control wire to pass through the middle, directly driven by the horizontal (Pan) and vertical (Tilt) motors, through the first brushless motor and the second brushless motor. The brush motor makes the viewing angle of the lens group reach 360 degrees without dead angle, and the control circuit enables the first brushless motor and the second brushless motor to achieve low revolutions, no overheating, and precise positioning.

All features disclosed in the present invention should be implemented in any combination. Each feature disclosed herein may be replaced by a substitute of the same, equivalent or similar purpose. therefore, Unless expressly stated otherwise, each feature disclosed is only one embodiment of a class of equivalent or similar features.

100: Direct drive brushless motor pipeline inspection camera system

10: Power Module

20: Lens module

30: Steering Module

40: Control Module

50: Wireless Module

Claims (10)

A direct drive brushless motor pipeline inspection camera system, the system includes: a power module, the power module provides the working power of the direct-drive brushless motor pipeline detection camera system; a lens module, the lens module includes a camera for capturing images; A steering module, the steering module drives the lens module to rotate 360 degrees, which includes a first base, which is connected to a first motor rotating part of a first brushless motor, and the first brushless motor A first motor fixing part of a motor is connected to an L-shaped bottom edge of an L-shaped bracket, an L-shaped side edge 2 of the L-shaped bracket is connected to a second motor fixing part of a second brushless motor, and the second A second motor rotating part of the brushless motor is connected to the lens module; a control module that controls the steering and positioning of the steering module; and The control wire of the second brushless motor is connected to the control module through a hollow shaft of the second brushless motor, and then passes through a first hole on the L-shaped bracket, so that the lens module can continue to be slow for 360 degrees. speed rotation. The direct-drive brushless motor pipeline inspection camera system as described in item 1 of the patent application scope, the control module further comprises a steering control circuit to control the brushless motor to operate at a low speed below 30 RPM; and a positioning control circuit , so that the camera can achieve the effect of accurate positioning. For the direct-drive brushless motor pipeline inspection camera system described in claim 1, the first brushless motor and the second brushless motor adopt a hollow design with a hollow shaft Hallow Shift (or Bore) without a rotating shaft. According to the direct-drive brushless motor pipeline inspection camera system described in claim 1, the lens group can achieve a full viewing angle through the first and second brushless motor viewing angles. For example, the direct-drive brushless motor pipeline inspection camera system described in item 1 of the patent application scope, the system camera together with the direct-drive brushless motor can reach 30-50mm in length, width and diameter. According to the direct-drive brushless motor pipeline inspection camera system described in item 1 of the scope of application, the lens module further comprises a storage module for storing the image signal of the camera; and a transmission module for storing the image signal of the storage module. Data is exported or sent to a server. According to the direct-drive brushless motor pipeline inspection camera system described in claim 1, the steering module further comprises a first base, which is connected to the first motor rotating part of the first brushless motor, and the other The first motor fixing part of the first brushless motor is connected to a second base, the L-shaped bottom edge of the L-shaped bracket is connected by the second base, and the L-shaped side of the L-shaped bracket is connected to a The third base is connected to the second motor fixing part of the second brushless motor through the third base, and the second motor rotating part of the second brushless motor is connected to the lens module. According to the direct-drive brushless motor pipeline inspection camera system described in claim 1, the steering module further comprises that the first motor rotating part is connected to the lens module, and the first motor fixing part is connected to the L-shaped bracket. The L-shaped side and the L-shaped bottom of the L-shaped bracket are connected to the second motor fixing part of the second brushless motor, and the second motor rotating part is connected to the first base. The direct-drive brushless motor pipeline inspection camera system described in claim 1, the L-shaped bracket, the lens module, the first motor fixing part, the first motor rotating part, and the second motor fixing part The combination with the second motor rotating part achieves continuous 360-degree slow-speed rotation, so that the viewing angle of the lens group can reach a full viewing angle. The direct-drive brushless motor pipeline inspection camera system described in item 1 of the patent application scope is designed without gears and belts.

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